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Contents
Suction Principle ............................................................................................................. 3
Brushless DC Motors (BLDC) .............................................................................................. 4
2.1
Construction of BLDC Motors ..................................................................................... 4
2.2
Working of the BLDC Motor ....................................................................................... 5
Microcontrollers ............................................................................................................. 10
Gate Driver and MOSFETs ............................................................................................... 10
Isolation ...................................................................................................................... 10
Power Management (8 to 60-V DC Power Supply) .................................................................... 10
CAP and QEP interfaces .................................................................................................. 10
Enhanced Controller Area Network (eCAN) ............................................................................ 10
High-Resolution and Synchronized ADCs .............................................................................. 11
DRV8301 .................................................................................................................... 11
Feedback Stage ............................................................................................................ 12
11.1 Torque or Commutation Loop ................................................................................... 12
11.2 Speed Loop ........................................................................................................ 12
11.3 Position Loops ..................................................................................................... 12
Conclusion .................................................................................................................. 13
About the Author ........................................................................................................... 14
References .................................................................................................................. 14
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2
3
4
5
6
7
8
9
10
11
List of Figures
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10
Suction Principle
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Suction Principle
A motor is attached to a centrifugal fan with angled blades. As the fan blades turn, they force air forward
toward the exhaust port. When air particles are driven forward, the density of particles (and therefore the
air pressure) increases in front of the fan and decreases behind the fan. The pressure level in the area
behind the fan drops below the pressure level outside the vacuum cleaner (the ambient air pressure). This
creates suction, which is a partial vacuum, inside the vacuum cleaner. The ambient air pushes into the
vacuum cleaner through the intake port because the air pressure inside the vacuum cleaner is lower than
the pressure outside. As long as the fan is running and the passageway through the vacuum cleaner
remains open, there is a constant stream of air moving through the intake port and out of the exhaust port.
BLDC Motor
Low Pressure
Centrifugal Fan
High Pressure
Air Flow
where
(1)
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2.1
Rotor with
Permanent
Magnets
Stator with
windings
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2.2
Torque = (4 N Blr) I
= kr I
Types of Control
2.2.1.1
Sensor Control
Sensor control uses the Hall Effect arrangement at the back-end of the motor. Three Hall Effect sensors
are placed 120 degrees apart. These are digital Hall Effect sensors. The sensors detect the transition from
the north pole to the south pole of the rotor. The transition is given using binary numbers. There are
several disadvantages of Hall Effect sensors including:
The sensors are very expensive.
Sensing requires a magnetic disk.
Additional mechanical parts and wiring issues cause reliability problems.
Hall Effect sensors require an additional power supply.
SLVA654A June 2014 Revised July 2015
Submit Documentation Feedback
2.2.1.2
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Sensorless Control
The disadvantages of Hall Effect sensors listed in Section 2.2.1.1 are compensated for by using
sensorless control. One of the ways of overcoming the disadvantages of Hall Effect sensors is by using
back-EMF sensing. This method works because one coil is always de-energized according to the working
principle. The rotor position is then detected using the back-EMF signature of that coil. This signature is
the Zero crossing of that back-EMF signal.
The BLDC motor is a permanent magnet motor with a trapezoidal back-EMF, as opposed to the sinusoidal
back-EMF found in a permanent-magnet synchronous motor. Figure 4 shows the trapezoidal waveforms
of a three-phase BLDC. In every commutation step, one phase winding is connected to a positive supply
voltage, one phase winding is connected to a negative supply voltage, and one phase is floating. The
back-EMF in the floating phase results in a zero crossing when the phase voltage crosses the average of
the positive supply voltage and negative supply voltage. The zero crossings are indicated by ZC. The zero
crossing occurs directly in the middle of two commutations. At a constant speed, or a slowly varying
speed, the time period from one commutation to zero-crossing and the time period from zero-crossing to
the next commutation are equal which is used as basis for the implementation of sensorless-commutation
control. The floating phase, where the zero crossing must be detected, changes for every commutation
step. One ADC channel for each phase winding is needed to detect zero crossings.
The sensorless commutation method does not work during startup or at very low speeds. A simple-blind
start-up is used. A table of inter-commutation delays for the first few commutations is stored in flash. This
sequence is executed without attention to the back-EMF feedback. The control is then passed over to the
sensorless commutation controller.
P1
P2
P3
P4
P5
P6
A
ZC
ZC
A
State 0
Back-EMF (V)
IAB
IAC
State 1
B
ZC
ZC
B
ZC
ZC
ICB
State 2
IBC
State 5
IBA
4
ICA
State 4
C
State 3
B
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2.2.1.2.1
Rotor-position detection occurs by using one of the two previously-mentioned methods. Figure 5 shows
the process of commutation. The 3-phase BLDC motor has been split into 12 stator poles as shown in
Figure 5. Phase winding occurs such that a positive current creates a south pole at A and A will then have
a north pole. Similarly C has a north pole and then C will have a south pole. Commutation can begin when
the rotor position is determined. When the rotor begins to move the south pole of the rotor enters the
region of the stator where the north pole exists. The sensor detects this movement, and before the rotor
can reach the north pole (region under the phase A), phase A is turned off because the rotor has entered
a new commutation zone. Phase B then turns on. The magnetic pattern on the stator is advanced by 300.
The rotor must move further in order to reach the north pole as shown in Figure 5(2). As the rotor travels
toward the north pole, it crosses a new commutation zone and the process continues on. There are six
stator commutation states and depending on the rotor position, the respective commutation state can be
applied.
2.2.1.3
Calculations
where
(2)
The KE constant can also be used to determine how fast a motor will run with a certain voltage applied to
it. The higher the applied voltage for a motor with a given back EMF constant (KE), the faster the motor
will run. Conversely the lower the applied voltage for a motor with a given back EMF constant (KE), the
slower the motor will run.
To calculate the voltage required at the motor, use Equation 3.
Voltage at motor (V) = ([L + M] / K [R]) + (KE w)
where
(3)
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where
PO is the output power (see Equation 5)
PI is the input power (see Equation 6)
PO =
(4)
where
= angular velocity (rad/s)
= torque (Nm)
PI = rated voltage rated current
(5)
(6)
Table 1 lists the specifications of the selected motor (part number DN4261-24-053).
Table 1. BLDC Motor Specifications
VALUE
Rated speed
4000 RPM
KE
3.72 V/kRPM
5.027 oz-in/A
Rated torque
Weight
0.45 Kg
Body length
61 mm
Number of phases
Number of poles
where
R = 2.6
L neglects M
(7)
Calculate the voltage to produce a torque of 15 oz-in at 3000 RPM using Equation 8.
V = ([15 / 5.027] 2.6) + (3.72 3) = 18.91 V
(8)
Use Equation 9 to find the voltage used to produce a torque of 15 oz-in at 4000 RPM.
V = ([15 / 5.027] 2.6) + (3.72 4) = 22.63 V
(9)
These equations can be used to calculate a similar voltage requirement for any given torque and speed.
The curve in Figure 6 is linear which provides better speed controllability.
As shown in Figure 7 the rated current of the motor is 3.54 A. The characteristic is linear.
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5.65129
4.95129
Speed (kRPM)
4.25129
3.55129
2.85129
2.15129
1.45129
13
17
21
25
29
33
37
Torque (oz-in)
22.52
7
20.027
Torque (oz-in)
17.527
15.027
12.527
10.027
7.527
1.4
1.6
2.2
2.6
3.4
3.8
4.2
4.6
Current (A)
REASON
Internal feedback. Permanent magnet design with feedback gives BLDC motors
linear characteristics when compared to open-loop AC-induction motors or brush DC
motors. Series DC motors have exponentially decreasing characteristics.
Internal feedback gives higher starting torque. The torque produced at any instant in
a BLDC will be twice the torque produced in brush DC motor of the same rating, as
two phases will be on in every commutation step.
Adjustable speed
With the Texas Instruments DRV8301 motor driver, smooth speed control is
possible.
Higher efficiency
A permanent magnet in the rotor reduces efficiency loss and increases the efficiency
by about 10%.
The heat generated in the stator is dissipated easily as it is outside of the rotor
unlike the brush DC motor.
Noiseless
Microcontrollers
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Microcontrollers
TI's C2000 microcontroller (MCU) family can control BLDC motors using either scalar or vector-control
techniques. The rotor position can also be estimated using back EMF voltage information. This mode of
feedback control eliminates the need for sensors and additional wires. The position of the speed
estimators can also be used to calculate rotor position. Integrated high-speed 12-bit ADC converters, highresolution pulse-width modulators (PWMs) and a quadrature encoder input (QEI) on the C2000 MCUs
make them ideal for implementing BLDC motor control. The ability of the C2000 MCU core to execute
complex mathematical functions in a short time makes this family of MCUs ideal for implementing vectorcontrol techniques and controlling multiple motors at the same time. The PWMs in this family have
programmable dead band delays to drive high- and low-side gate drivers. The hardware-based faultdetection systems shut down systems faster without intervention from the software. The MSP430 MCU
devices are based on a 16-bit RISC architecture with ultra-low-power operation in active mode and sleep
mode.
Isolation
Isolators have logic input and output buffers separated by a silicon-dioxide (SiO2) isolation barrier,
providing 4 kV of isolation. These devices block high voltages, isolate grounds, and prevent noise currents
from entering the local ground and interfering with or damaging sensitive circuitry. TIs ISO7420 and
ISO7140 series with 4-kV isolation and ISO7520 and ISO7641 series with 6-kV isolation specs are used in
this application report.
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10
DRV8301
TI's DRV8301 device is a three-phase driver with dual current-shunt amplifiers and a buck regulator. The
DRV8301 device includes two current-shunt amplifiers for accurate current measurement. The operating
supply voltage of the device is 8 to 60 V and can support up to a 200k-Hz switching frequency.
C2000
Controller
DRV8301
Push
Buttons
Inverter
Stage
DC
Supply
(8 V to
60 V)
Motor Connections
Figure 8. TI BLDC Driver Circuit
11
Feedback Stage
11
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Feedback Stage
Figure 9 shows the functional block diagram of the motor control. The following sections list the three
feedback loops involved.
ISO
Wired
Interfaces
Analog Feedback
ADC
Gate Drivers
ISO
Motor
Microcontroller
Encoder
Sensorless (B-EMF)
ADC
Plug
DC Bus
Rectifier
AC
Line
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Conclusion
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3
Back-EMF signal
ADC
System
Controller
PWM
Controller
Gate Driver
H-Bridge
BLDC
Sense
resistor
ADC
Current-sense
amplifier
Optical encoder
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Conclusion
Table 3 lists the performance comparison between a universal AC motor and a BLDC moto. The
comparison in Table 3 shows that the BLDC motor provides twice the efficiency gain with better control,
no noise, and lighter weight.
Table 3. Performance Comparison Between BLDC and Universal Motor
Power
Efficiency Noise
Size and Weight
AC MOTOR
BLDC MOTOR
150 W
35% hum
50 W
90% complete silence
The AC motor is bigger in size and 33% to 50% heavier than BLDC mortors
Limited to AC frequency (50 to 60 Hz) and is nonadjustable
Temperature Rise
95C
Application Range
Single purpose
Muli-purpose
Short
Long
Rotation speed
Life Span
13
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14
References
1. Texas Instruments Motor Drive and Control website, www.ti.com/motor
2. Permanent Magnet Synchronous and Brushless DC motors (Ramu, 2009)
3. Speed Regulation of a Small BLDC Motor using Genetic-Based Proportional Control (Poonsawat and
Kulworawanichpong, 2008)
4. Simplified Sensorless Control for BLDC Motor, Using DSP Technology (Dixon, Rodriguez, and Huerta)
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Revision History
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Revision History
Changes from Original (June 2014) to A Revision ......................................................................................................... Page
Changed the placement fo the Hall Effector sensors from 1200 degrees to 120 degrees in the Sensor Control section
..
NOTE: Page numbers for previous revisions may differ from page numbers in the current version.
Revision History
Copyright 20142015, Texas Instruments Incorporated
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